I'm not sure describing it in words is very helpful, and there's probably a good amount of such data available already.
I would think the way to do it is build the touch sensors first (and it seems they're getting pretty close) then just tele-operate some robots and collect a ton of data. Either that, or put gloves on humans that can record. Pay people to live their normal lives but with the gloves on.
I would think the way to do it is build the touch sensors first (and it seems they're getting pretty close) then just tele-operate some robots and collect a ton of data. Either that, or put gloves on humans that can record. Pay people to live their normal lives but with the gloves on.